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Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
A common operation performed in Virtual Reality (VR) environments is locomotion. Although real walking can represent a natural and intuitive way to manage displacements in such environments, its use is generally limited by the size of the…
This paper considers the problem of routing and rebalancing a shared fleet of autonomous (i.e., self-driving) vehicles providing on-demand mobility within a capacitated transportation network, where congestion might disrupt throughput. We…
The Capacitated Vehicle Routing Problem (CVRP) is a core NP-hard problem in the field of combinatorial optimization. It aims to plan optimal routes for a fleet of vehicles with uniform capacity, serving a set of customers with specific…
Grounding language to the visual observations of a navigating agent can be performed using off-the-shelf visual-language models pretrained on Internet-scale data (e.g., image captions). While this is useful for matching images to natural…
We propose a novel vector field based guidance scheme for tracking and surveillance of a convoy, moving along a possibly nonlinear trajectory on the ground, by an aerial agent. The scheme first computes a time varying ellipse that…
Network virtualization is a technology of running multiple heterogeneous network architecture on a shared substrate network. One of the crucial components in network virtualization is virtual network embedding, which provides a way to…
Primary user activity is a major bottleneck for existing routing protocols in cognitive radio networks. Typical routing protocols avoid areas that are highly congested with primary users, leaving only a small fragment of available links for…
Real-time monitoring of critical parameters is essential for energy systems' safe and efficient operation. However, traditional sensors often fail and degrade in harsh environments where physical sensors cannot be placed (inaccessible…
Quantum transducers are critical for quantum interconnect, enabling coherent signal transfer across disparate frequency domains. Beyond material and device advances, protocol design has become a powerful means to improve transduction. We…
Visual Object Tracking (VOT) has synchronous needs for both robustness and accuracy. While most existing works fail to operate simultaneously on both, we investigate in this work the problem of conflicting performance between accuracy and…
Positioning problem can be solved with several approaches in 5G. This paper introduces RT (Ray Tracing) technique for small-cell Outdoor positioning and tracking for systems with distributed architecture with multipath processing gain.…
The real-time dynamic environment perception has become vital for autonomous robots in crowded spaces. Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly…
Real-scanned point clouds are often incomplete due to viewpoint, occlusion, and noise. Existing point cloud completion methods tend to generate global shape skeletons and hence lack fine local details. Furthermore, they mostly learn a…
With the rapid development of mobile Internet and cloud computing technology, large-scale multimedia data, e.g., texts, images, audio and videos have been generated, collected, stored and shared. In this paper, we propose a novel query…
Delay tolerant Ad-hoc Networks make use of mobility of relay nodes to compensate for lack of permanent connectivity and thus enable communication between nodes that are out of range of each other. To decrease delivery delay, the information…
Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the…
Pedestrian trajectory prediction is critical for ensuring safety in autonomous driving, surveillance systems, and urban planning applications. While early approaches primarily focus on one-hop pairwise relationships, recent studies attempt…
Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…